Nonlinear Adaptive Robust Control of the Electro-Hydraulic Servo System
Source abstract
Abstract
This paper focuses on high performance adaptive robust position control of electro-hydraulic servo system. The main feature of the paper is the combination of adaptive robust algorithm with discrete disturbance estimation to cope with the parametric uncertainties, uncertain nonlinearities, and external disturbance in the hydraulic servo system. First of all, a mathematical model of the single-rod position control system is developed and a nonlinear adaptive robust controller is proposed using the backstepping design technique. Adaptive robust control is used to encompass the parametric uncertainties and uncertain nonlinearities. Subsequently, a discrete disturbance estimator is employed to compensate for the effect of strong external disturbance. Furthermore, a special Lyapunov function is formulated to handle unknown nonlinear parameters in the system state equations. Simulations are carried out, and the results validate the superior performance and robustness of the proposed method.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Hydraulic and Pneumatic Systems · Advanced Sensor and Control Systems · Oil and Gas Production Techniques
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
Funding
National Natural Science Foundation of China · Foundation of Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, 264 Beijing Jiaotong University, Ministry of Education, China · Fundamental Research Funds for the Central Universities
References (30)
Show source-provided references
1. Optimal control of hydraulically driven parallel robot platform based on firefly algorithm10.1007/s11071-015-2252-5 ↗
2. Output feedback active suspension control with higher order terminal sliding mode10.1109/TIE.2016.2611587 ↗
3. High dynamic adaptive robust control of load emulator with output feedback signal10.1016/j.jfranklin.2014.06.002 ↗
4. Position control of nonlinear hydraulic system using an improved PSO based PID controller10.1016/j.ymssp.2016.06.010 ↗
5. Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments10.1109/3516.828592 ↗
6. Feedback linearization-based position control of an electrohydraulic servo system with supply pressure uncertainty10.1109/TCST.2011.2158101 ↗
7. Application of nonlinear adaptive control techniques to an electrohydraulic velocity servomechanism10.1109/TCST.2003.822485 ↗
8. A simplified approach to force control for electro-hydraulic systems10.1016/S0967-0661(00)00081-2 ↗
9. Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters10.1016/j.conengprac.2008.02.002 ↗
10. Mathematical modelling and fuzzy logic based position control of an electrohydraulic servosystem with internal leakage10.1016/j.mechatronics.2009.04.010 ↗
11. A robust control of electro hydrostatic actuator using the adaptive back-stepping scheme and fuzzy neural networks10.1007/s12541-010-0026-z ↗
12. Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form10.1016/S0005-1098(96)00222-1 ↗
13. Yao, B. (1997, January 12). High performance adaptive robust control of nonlinear systems: A general framework and new schemes. Proceedings of the 36th IEEE Conference on Decision and Control, San Diego, CA, USA.
14. Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties10.1109/TIE.2003.817574 ↗
15. Adaptive robust motion control of linear motors for precision manufacturing10.1016/S0957-4158(01)00008-3 ↗
16. Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping10.1109/TIE.2014.2304912 ↗
17. Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation10.3901/CJME.2014.0430.085 ↗
18. Nonlinear adaptive robust backstepping force control of hydraulic load simulator: Theory and experiments10.1007/s12206-014-0137-z ↗
19. Qin, F., Zhao, H., Zhen, S.C., and Zhang, Y. (2020). Adaptive robust control for lower limb rehabilitation robot with uncertainty based on Udwadia-Kalaba approach. Adv. Robot., 1–11.10.1080/01691864.2020.1774414 ↗
20. Adaptive robust precision motion control of linear motors with negligible electrical dynamics: Theory and experiments
21. Precision motion control for electro-hydraulic servo systems with noise alleviation: A desired compensation adaptive approach10.1109/TMECH.2017.2688353 ↗
22. Yang, G., and Yao, J.Y. (2020). High-precision motion servo control of double-rod electro-hydraulic actuators with exact tracking performance. ISA Trans.10.1016/j.isatra.2020.03.029 ↗
23. Indiscrete adaptive control of an electrohydraulic servo system based on nonlinear backstepping10.1109/TMECH.2010.2092785 ↗
24. Identifier-based adaptive robust control for servomechanisms with improved transient performance10.1109/TIE.2009.2035461 ↗
25. RBF-Neural-Network-Based Adaptive Robust Control for Nonlinear Bilateral Teleoperation Manipulators With Uncertainty and Time Delay10.1109/TMECH.2019.2962081 ↗
26. Hu, C., OU, T.S., Zhu, Y., and Zhu, L.M. (2020). GRU-type LARC strategy for precision motion control with accurate tracking error prediction. IEEE Trans. Ind. Electron.10.1109/TIE.2020.2991997 ↗
27. Friction compensation for low velocity control of hydraulic flight motion simulator: A simple adaptive robust approach10.1016/j.cja.2013.04.001 ↗
28. High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties10.1109/TMECH.2013.2252360 ↗
29. Nonlinear adaptive robust control of single-rod electro-hydraulic actuator with unknown nonlinear parameters10.1109/TCST.2007.908195 ↗
30. Adaptive backstepping control of an electrohydraulic actuator10.1109/TMECH.2013.2265312 ↗